#ifndef PID_v1_h
#define PID_v1_h

#include "stdbool.h"

//Constants used in some of the functions below
#define AUTOMATIC 1
#define MANUAL 0
#define DIRECT 0
#define REVERSE 1
#define P_ON_M 0
//#define P_ON_E 1

//commonly used functions **************************************************************************
void PID(double *, double *, double *,      // * constructor.  links the PID to the Input, Output, and
    double, double, double, int, int); //   Setpoint.  Initial tuning parameters are also set here.
                                       //   (overload for specifying proportional mode)

void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)

bool Compute(); // * performs the PID calculation.  it should be
                //   called every time loop() cycles. ON/OFF and
                //   calculation frequency can be set using SetMode
                //   SetSampleTime respectively

void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but
                                      //   it's likely the user will want to change this depending on
                                      //   the application

//available but not commonly used functions ********************************************************
// * While most users will set the tunings once in the
//   constructor, this function gives the user the option
//   of changing tunings during runtime for Adaptive control
// * overload for specifying proportional mode
void SetTunings(double, double, double, int);

void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
                                  //   means the output will increase when error is positive. REVERSE
                                  //   means the opposite.  it's very unlikely that this will be needed
                                  //   once it is set in the constructor.
void SetSampleTime(int);          // * sets the frequency, in Milliseconds, with which
                                  //   the PID calculation is performed.  default is 100

//Display functions ****************************************************************
double GetKp();     // These functions query the pid for interal values.
double GetKi();     //  they were created mainly for the pid front-end,
double GetKd();     // where it's important to know what is actually
int GetMode();      //  inside the PID.
int GetDirection(); //

void Initialize();

#endif
